面向芒果包装线的智能分拣机械手总体设计

General Design of Intelligent Sorting Manipulator for Mango Packaging Line

为了提高芒果分拣包装的自动化程度,设计出一种新型的智能芒果分拣机械手。深入剖析了分拣机的工艺过程,讨论分拣机的Delta并联机构与大小臂结构设计问题。通过Solid Works simulation有限元分析各关键构件的应力状态,用Solid Works软件对芒果分拣机械手各关键机构进行建模与仿真。模拟出芒果分拣机械手的包装工作流程,假设给定一定数量大小不一的芒果,在仿真之后按照大、中、小得出对应的数量,为样机的优化设计提供依据。按照上述方法进行试验,将18个大小不一的芒果进行分类包装,大的芒果有6个,中等芒果有8个,小芒果有4个。通过上述方法,构件所受应力远远小于许用应力,仿真过程合理,验证所设计的芒果分拣机械手结构的可行性。

In order to improve the automation degree of mango sorting and packaging, a new type of intelligent mango sorting manipulator was designed. The process of sorting machine was analyzed. The design of the Delta parallel mechanism of the sorting machine and the structure design of large and small arm were discussed. The stress state of each key component was analyzed using Solid Works simulation finite element analysis method. The key mechanisms of mango sorting manipulator were modeled and were simulated by using Solid Works software. The packing process of the mango sorting manipulator was simulated. Assuming that a certain quantity of mango with different sizes were given, after the simulation, and the number of mangos corresponding to large, medium and small was derived. The simulation provided a basis for optimization design of a prototype. According to the above method, 18 different sizes of mangoes were classified and packaged. According to the standard, there were 6 large mangos, 8 medium mangos, and 4 small mangos. Through the above methods, the stress of the component was much less than the allowable stress, and the simulation process was reasonable. The feasibility of the structure of the mango sorting manipulator was verified.